• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.3
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• pp.313-320
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• 1999

The Lane-Curvature Method(LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines Curvature-Velocith Method(CVM) with a new directional method called the Lane Method. The Lane Method divides the environment into lanes taking the information on obstacles and desired heading of the robot into account ; then it chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal translational and rotational velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot Xavier, show the efficiency of the proposed method.

• Journal of Mechanical Science and Technology
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• v.17 no.11
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• pp.1693-1703
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• 2003

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.

• Transactions of Materials Processing
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• v.7 no.2
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• pp.177-185
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• 1998

The kinematically admissible veolcity field is developed for the shapes of dead metal zone and the curving velocity distribution in the eccentric plane dies extrusion. The shape of dead metal zone is defined as the boundary surface with the maximum friction constant between the deformable zone and the rigid zone. The curving phenomenon in the eccentric lane dies is caused by the eccentricity of plane dies. The axial velocity distribution in the plane dies is divided in to the uniform velocity and the deviated velocity. The deviated velocity is linearly changed with the distance from the center of cross-section of the workpiece. The results show that the curvature of products and the shapes of the dead metal one are determined by the minimization of the plastic work and that the curvature of the extruded products increase with the eccentricity.

• Journal of computational fluids engineering
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• v.13 no.1
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• pp.21-27
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• 2008

A numerical study for laminar flow in the entrance region of helical tubes for uniform inlet velocity conditions is carried out by means of the finite volume method to investigate the effects of Reynolds number, pitch and curvature ratio on the flow development. This results cover a curvature ratio range of 1/10$\sim$1/320, a pitch range of 0.0$\sim$3.2, and a Reynolds number range of 125$\sim$2000. It has been found that the curvature ratio does significantly effect on the angle of flow development, but the pitch and Reynolds number do not. The characteristic angle $\phi_c(=\phi/\sqrt{\delta})$, or the non-dimensional length $\overline{l}(=l\sqrt{\delta}cos(atan\lambda)/d)$ can be used to represent the flow development for uniform inlet velocity conditions. In uniform inlet velocity conditions, the growth of boundary layer delays the flow development attributed to centrifugal force, and in which conditions the amplitude of flow oscillations is smaller than that in parabolic inlet velocity conditions. If the pitch increases or if the curvature ratio or Reynolds number decreases, the minimum friction factor and the fully developed average friction factor normalized with the friction factor of a straight tube and the flow oscillations decrease.

• Journal of Mechanical Science and Technology
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• v.14 no.4
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• pp.441-447
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• 2000

Direct numerical simulation has been used to study turbulent boundary layers with convex curvature. A direct numerical simulation program has been developed to solve incompressible Navier-Stokes equations in generalized coordinates with the finite volume method. We considered two boundary layer thicknesses. When the curvature effect is small, mean velocity statistics show little difference with those of a plane channel flow. Turbulent intensity decreases as curvature increases. Contours suggest that streamwise vorticities are strong where large pressure fluctuations exist.

• Korean Journal of Hydrosciences
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• v.3
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• pp.45-59
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• 1992

The flow characteristics varying with rate of the radius of curvature to width (Rc/B) in open channel bends are investigated with a simplified numerical model. Secondary flow velocity and transverise bed slope are formulated from the equations of momentum and force balance analysis, respectively. The conservation equations of mass and streamwise momentum are simplified by depth integration and its solution could be obtained from the explicit finite difference method. Three sets of computer simulation are executed. The rates of Rc/B adopted in simulations are 2.7, 5.4 and 8.1. The terms analyzed in this paper secondary flow velocity, streamwise velocity, the path of maximum steamwise velocity, deviation angle, and mass-shift velocity.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.302-312
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• 2004

This work developed improved slip factor model and correction method to predict flow through impeller in forward-curved centrifugal fan. Both steady and unsteady three-dimensional CFD analyses were performed to validate the slip factor model and the correction method. The results show that the improved slip factor model presented in this paper could provide more accurate predictions for forward-curved centrifugal impeller than the other slip factor models since the present model takes into account the effect of blade curvature. The correction method is provided to predict mass-averaged absolute circumferential velocity at the exit of impeller by taking account of blockage effects induced by the large-scale backflow near the front plate and flow separation within blade passage. The comparison with CFD results also shows that the improved slip factor model coupled with the present correction method provides accurate predictions for mass-averaged absolute circumferential velocity at the exit of impeller near and above the flow rate of peak total pressure coefficient.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.146-149
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• 2002

This paper presents collision avoidance for mobile robots equipped with synchro-drive using curvature trajectory by the obstacle type. he new real-time obstacle avoidance method presents how to create a curvature trajectory in which dynamics of a mobile robot is considered we controlled translation and rotational velocity of the mobile robot. Using these two speeds with curvature trajectory, the mobile robot navigates to target point without collision. We consider that the robot going to curvature trajectory by obstacle size towards a goal location. The collision avoidance has been implemented and tested using pioneer2-dxe mobile robot.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.2
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• pp.224-232
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• 2000

Four turbulent $k-{\varepsilon}$ models (i.e., standard model, modified models with streamline curvature modification and/or preferential dissipation modification) are applied in order to analyze the turbulent flow of wall-attaching offset jet. For numerical convergence, this paper develops a method of slowly increasing the convective effect induced by skew-velocity in skew-upwind scheme (hereafter called Partial Skewupwind Scheme). Even though the method was simple, it was efficient in view of convergent speed, computer memory storage, programming, etc. The numerical results of all models show good prediction in first order calculations (i.e., reattachment length, mean velocity, pressure), while they show some deviations in ·second order (i.e., kinetic energy and its dissipation rate). Like the previous results obtained by upwind scheme, the streamline curvature modification results in better prediction, while the preferential dissipation modification does not.

• Water for future
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• v.23 no.4
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• pp.435-444
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• 1990

The flow characteristics varying with the rate of the radius of curvature to width (Rc/B) in open channel bends are investigated with a simplified numerical model, briefly. Secondary flow velocity and transverse bed slope are formulated from the equations of moment of momentum and force balance analysis, respectively. The conservation equations of mass and streamwise momentum are simplified by depth integration and its solution could be obtained form explicit finite difference method. Three sets of computer simulation are executed. The rates of Rc/B adopted in simulations are 2.7, 5.4, 8.1 , respectively. The terms analyzed in this paper are secondary flow velocity, streamwise velocity, the path of maximum streamwise velocity, deviation angle, and mass-shift velocity.